urg_node2_en

Back to top
English | Japanese

How to use URG on ROS(urg_node2)ROS2

This is how to install "urg_node2", it provides ROS2 driver node for HOKUYO 2D LiDAR(SOKUIKI Sensor).

The interfaces and some of the processes are based on urg_node package , which is often used in ROS1.
urg_library ver.1.2.5 is used for communication with LiDAR.
Life cycle control support.

Life cycle control

The operation in each state of the life cycle is as follows
- Unconfigured
startup state
- Inactive
LiDAR connection state（not delivered scanning data and diagnostic information）
- Active
LiDAR data delivery state（delivered scanning data and diagnostic information）
- Finalized
end state

1.Obtaining Source Code

$ cd <ROS2_workspace>/src
$ git clone --recursive https://github.com/UrgNetworks/urg_node2.git

2.Installing Related Packages

$ rosdep update
$ rosdep install -i --from-paths urg_node2

3.Build

$ cd <ROS2_workspace>
$ colcon build --symlink-install

launch

1. Connect LiDAR
   Connect via Ethernet or USB.
2. Set the connection destination (parameters)
   Edit config/params_ether.yaml (for Ethernet connections)
   ※If you use USB connection, edit config/params_serial.yaml and change the parameter file specification part of launch/urg_node2.launch.py to params_serial.yaml.
3. Node startup
   Execute the following command to automatically transition to the Active state and begin distribution of scan data.

$ ros2 launch urg_node2 urg_node2.launch.py

If you do not want to automatically transition to the Active state, execute the following command. (After startup, it will enter the Unconfigured state.)

$ ros2 launch urg_node2 urg_node2.launch.py auto_start:=false